A watercraft, associated motor pod, and associated methods are provided. The motor pod is operable to maintain an orientation of the watercraft relative to a reference datum while the watercraft is moving or stationary.

Techniques are disclosed for systems and methods to provide sailing information to users of a mobile structure. A sailing user interface system includes a logic device configured to communicate with a compass or orientation sensor, a wind sensor, and/or a speed sensor. Sensor signals provided by the various sensors are used to determine a heading and a wind direction for the mobile structure. The wind direction and heading may be used to generate a steering guide display view. The steering guide graphically indicates the heading of the mobile structure relative to various optimum velocity made good (VMG) headings associated with the mobile structure, its heading, the wind direction, and/or a performance contour for the mobile structure. The steering guide may be displayed to a user to refine manual operation of the mobile structure, and the information rendered in the steering guide may be used to autopilot the mobile structure.

An adaptable tie bar assembly for use with a power boat having more than one engine. The adaptable tie bar assembly comprises a hollow tube for a first part, a rod for second part that slides within the first part of the adaptable tie bar assembly and a pin to secure the rod second part in fixed position in the hollow tube at which point the engines are parallel and the power boat is being operated at higher speeds. A solenoid may be used to insert and retract the pin. Physically aligned and secured engines improve safety when moving at high speeds. At lower speeds, being able to operate the engines independently enables better steering control.

An adaptable tie bar assembly for use with a power boat having more than one engine. The adaptable tie bar assembly comprises a hollow tube for a first part, a rod for second part that slides within the first part of the adaptable tie bar assembly and a pin to secure the rod second part in fixed position in the hollow tube at which point the engines are parallel and the power boat is being operated at higher speeds. A solenoid may be used to insert and retract the pin. Physically aligned and secured engines improve safety when moving at high speeds. At lower speeds, being able to operate the engines independently enables better steering control.

A navigational system for guiding a boat onto a trailer comprising at least a portion of a tow vehicle which forms a natural marker for the navigation system. A camera is located on the boat to assist the navigational system with aligning a longitudinal axis of the boat with a longitudinal axis of the trailer. A central vertical (mid) axis of the camera is aligned with the longitudinal axis of the boat. An image processing unit receives and processes images from the camera. The image processing unit, based upon a determination of a position of the central vertical (mid) axis of the camera relative to a target area of the detected natural marker, generating guidance commands to assist a user with alignment of the longitudinal axis of the boat with the longitudinal axis of the trailer and thereby facilitate proper loading of the boat onto the trailer.

A navigational system for guiding a boat onto a trailer comprising at least a portion of a tow vehicle which forms a natural marker for the navigation system. A camera is located on the boat to assist the navigational system with aligning a longitudinal axis of the boat with a longitudinal axis of the trailer. A central vertical (mid) axis of the camera is aligned with the longitudinal axis of the boat. An image processing unit receives and processes images from the camera. The image processing unit, based upon a determination of a position of the central vertical (mid) axis of the camera relative to a target area of the detected natural marker, generating guidance commands to assist a user with alignment of the longitudinal axis of the boat with the longitudinal axis of the trailer and thereby facilitate proper loading of the boat onto the trailer.

Techniques are disclosed for systems and methods to provide perimeter ranging for navigation of mobile structures. A navigation control system includes a logic device, a perimeter ranging sensor, one or more actuators/controllers, and modules to interface with users, sensors, actuators, and/or other elements of a mobile structure. The logic device is configured to receive perimeter sensor data from the perimeter ranging system. The logic device determines a range to and/or a relative velocity of a navigation hazard disposed within a monitoring perimeter of the perimeter ranging system based on the received perimeter sensor data. The logic device then generates a display view of the perimeter sensor data or determines navigation control signals based on the range and/or relative velocity of the navigation hazard. Control signals may be displayed to a user and/or used to adjust a steering actuator, a propulsion system thrust, and/or other operational systems of the mobile structure.

A method for controlling a marine vessel having first and second steering nozzles and first and second trim deflectors comprises generating at least a first set of actuator control signals and a second set of actuator control signals. The first set of actuator control signals is coupled to and controls the first and second steering nozzles, and the second set of actuator control signals is coupled to and controls the first and second trim deflectors. The acts of generating and coupling the first set of actuator control signals and the second set of actuator control signals result in inducing any of a net yawing force, a net rolling force, and a net trimming force to the marine vessel without inducing any other substantial forces to the marine vessel by controlling the first and second steering nozzles and the first and second trim deflectors. Also disclosed is a system for controlling a marine vessel.

A method for controlling a marine vessel having first and second steering nozzles and first and second trim deflectors comprises generating at least a first set of actuator control signals and a second set of actuator control signals. The first set of actuator control signals is coupled to and controls the first and second steering nozzles, and the second set of actuator control signals is coupled to and controls the first and second trim deflectors. The acts of generating and coupling the first set of actuator control signals and the second set of actuator control signals result in inducing any of a net yawing force, a net rolling force, and a net trimming force to the marine vessel without inducing any other substantial forces to the marine vessel by controlling the first and second steering nozzles and the first and second trim deflectors. Also disclosed is a system for controlling a marine vessel.

A marine autopilot system is disclosed. While in autopilot mode, the marine vessel's autopilot system autonomously steers the marine vessel's rudder. Steering input provided using the helm typically results in counter-steering to the autopilot. If the autopilot is following a current heading or course (route), the autopilot may continue its efforts to remain on the heading or course in response to the deviation caused by steering input to the helm. The disclosed autopilot system improves this problem by including one or more sensors that measure helm movement and wirelessly transmit helm movement data to one or more components of the marine vessel's electronic network. If the operator of the marine vessel manually steers the helm to deviate from a current heading or course, helm movement exceeding a predetermined autopilot disengagement threshold may cause the autopilot control to temporarily disengage, allowing a user to manually steer the marine vessel.